High level washing and dusting apparatus for aircraft and the like

ABSTRACT

A washing and dusting unit particularly for cleaning the upper surfaces of larger aircraft. A powered brush is connected to the distal end of a powered boom structure which has three elements connected pivotally in seriatim. The first element is adjustably coupled to a support and the elements can be adjusted into a generally inverted-U configuration to bring the brush onto the upper surfaces of the aircraft. The brush is connected to a telescopic member which is in turn connected to an adjustable arm coupled to the boom structure. A seat is provided adjacent the adjustable arm and the orientation of both arm and seat is maintained by a levelling mechanism coupled to the boom structure. The adjustable arm has shoulder, upper arm, elbow and wrist adjustments to position the brush as desired.

United States Patent [1 1 Thornton-Trump Dec. 4, 1973' [76] Inventor:Walter E. Thornton-Trump, 7410 Old Post Rd., Lincoln, Nebr. 68520 [22]Filed: Apr. 13, 1971 [21] Appl. No.1 133,534

[56] References Cited UNITED STATES PATENTS 8/1963 Grant 15/21 E X3,196,472 7/ 1965 Ventrella 3,439,372 4/1969 Collier 15/21 E 3,460,1778/1969 Rhinehart et al. 15/21 E 3,551,934 -1/1971 Franzrebm, 15/21 E X3,557,967 l/1971 Madole 212/59 R Primary Examiner-Edward L. RobertsAttorneyZarley, McKee & Thomte [5 7 ABSTRACT A washing-and dusting unitparticularly for cleaning the upper surfaces of larger aircraft. Apowered brush is connected to the distal end of a powered boom structurewhich has three elements connected pivotally in seriatim. The firstelement is adjustably coupled to a support and the elements can beadjusted into a generally inverted-U configuration to bring the brushonto the upper surfaces of the aircraft. The brush is connected to atelescopic member which is in turn connected to an adjustable armcoupled to the boom structure. A seat is provided adjacent theadjustable arm and the orientation of both arm and seat is maintained bya levelling mechanism coupled to the boom structure. The adjustable armhas shoulder, upper arm, elbow and wrist adjustments to position thebrush as desired.

18 Claims, 6 Drawing Figures IPATENTE-DUEE 4 1915 SHEET 20F 3 ,mae

A77'TOFNEV5 HIGH LEVEL WASHING AND DUSTING APPARATUS FOR AIRCRAFT ANDTHE LIKE This invention relates to washing and dusting apparatus, andmore particularly, it relates to washing and dusting apparatus suitablefor use on the upper surfaces of aircraft.

Washing aircraft has presented serious problems which have been overcomein part by the use of aerial brush devices. These devices however havebeen found unsatisfactory in many instances because they are complicatedand relatively expensive. As aircraft are made larger the problems areincreased, particularly the problem of washing the upper surfaces of thewings and the tail section.

Accordingly, the present invention in one of itsaspects provides apowered brush attached to the distal end of a boom structure which ispivotally mounted on a support. The boom structure comprises first,second and third elements pivotally connected in seriatim, so that theelements can be adjusted into a generally inverted -U configuration tobring the brush onto the upper surfaces of an aircraft. The brush canthen be moved across the surface by manipulating the elements.

In another of its aspects the invention provides coupling means forattaching the brush to the distal end of the boom structure. Thecoupling means includes shoulder, upper arm, elbow and wrist adjustmentsas well as a telescopic adjustment for moving the brush through a largevariety of angular positions relative to the boom structure. In apreferred form, an operators controls 27 on the turntable 12. The chair26 is pivot-' ally attached to the distal end of the third element 18and is maintained in a horizontal position by a pair of .one to eachside of a coupling 30 which includes a teleseat is also coupled to thedistal end of the boom structure and held in a predeterminedorientationby a levelling mechanism which is coupled to the boom support. In yetanother of its aspects, the first element has a cranked portion where itispivotally connected to the second element and an actuator is coupledto the second element. The actuator operates through links to adjust theangle between the first and second elements. This arrangement of theactuator allows a lighter second element to be used and also results inreduced actuator forces as compared with the forces required in anactuator coupled directly to the first element.

Further objects and advantages of the invention will appear from thefollowing description taken together with the accompanying drawings, inwhich:

FIG. 1 is a side view of a preferred embodiment of the invention mountedon 'a conventional truck chassis;

FIG. 2 is a view looking down on the invention;

FIG. 3 is a sectional view on line 33 of FIG. 2;

FIG. 4 is a' top view of the device shown in FIG. 3;

FIG. 5 is a diagrammatic view of the invention shown in a number ofdifferent positions; and

FIG. 6 is a diagrammatic view of another embodiment of the invention.

Reference is first made to FIGS. 1 and 2 with particu- I lar referenceto FIG. 1. A truck 10 is equipped with a turntable 12 which pivotallysupports an elongated boom structure 13 having a first element 14, asecond element 16, and a third element 18. The elements 14, 16 and 18are of fabricated construction and are pivotally connected in seriatim.Pairs of first, second, and third actuators, 20, 22 and 24 which arecoupled to the elements for changing the relative positions of theelements are controlled from either a first set of controls 25 in anoperator's chair 26 or from a second set of scopic member 32 and anadjustable arm 34. The arm 34 has shoulder, upper arm, elbow and wristadjust- In the folded position shown in FIG. 1, the first ele-' ment 14of the boom structure l3 rests horizontally on a front support 36, whichis rigidly attached to the truck, and the third element 18 rests on asimilar rear support 38. The truck is stabilized during use of the boomstructure by conventional outriggers 40, 42, which are duplicated on thehidden side of the truck. The outriggers and actuators 20, 22, 24 arepreferably operated hydraulically.

The turntable 12 is of conventional design and includes a lower fixedportion 44 and an upper portion 46 which can be rotated relative to thelower portion 44 and locked in any desired position. A pivot 48 whichlies transversely of the boom structure 13 couples the upper portion 46of the turntable l2.to one end of the first element 14. The element l4is of fabricated construction and terminates at its opposite end in acranked or dog-leg portion 50. A second transverse pivot 52 which isgenerally parallel to the pivot 48 couples the portion 50 to the secondelement such that the pivot 52 lies substantially above the longitudinalaxis of the first element 14 to allow the second element 16 to come torest in the position shown in FIG. 1. The element 14 can be moved up anddown by energizing actuators 20, each of which is pivotally connected at54 to a bracket 56 on the upper-portion 46 of the tumtable l2 and at 58toa bracket 60 on the lower side of the element 14 respectively. V

The position of the second element 16 relative to the first element 14can be adjusted by the actuators 22, each of which is coupled between apoint intermediate the ends of a moment arm or link-62 and a bracket 64on the element 16. A first end of the moment arm 62 is coupled to abracket 65 on the second element 16 at a pivot 66 and an opposite end iscoupled to an end of a link 67 at a pivot 68. The opposite end of thelink 67 is pivotally connected at 69 to a bracket-70 on the firstelement 14. When the actuators 22 are activated they force the momentarms 62 to rotate about the pivots 66 I and the links 67 to rotate aboutthe pivots 68, 69 resulting in the element 16 rotating about the pivot52. The moment arms 62, links 67 and actuators 22 are chosen so that theelement 16 can rotate through approximately degrees about the pivot 52as will be described.

The distal end of the second element 16 is coupled by a pivot 71 to anend of the third element 18. The actuators 24, each of which isrotatably attached to a bracket 72 on the third element 18, arepivotally coupled at their opposite ends to links 73, 74 at common pivotpoints 75. Each link 73 is also coupled at an opposite end to a bracket76 on the third element 18, and the opposite end of link 74 is coupledto a bracket 77 on the second element 16. The operation of the actua- Itors 24 is similar to that of actuators 22. However, the

actuators 24, links 73 and 74 are chosen so that the third element 18can pivot about the pivot 71 to either side of the axis of the secondelement 16 within a range limited by the movement of the actuators 24.This movement is possible because levelling mechanism 19 includes achain and sprocket levelling mechanisms 78 on the third element 18.

Each levelling mechanism 19 consists of a levelling rod 79 pivotallycoupled at one end to a pivot 80 on the turntable 12 and at its oppositeend to a pivot 81 on a bell-crank lever 82 which is rotatably coupled tothe pivot 52 between the elements 14 and 16. The opposite end of thebell-crank lever 82 is connected by a pivot 83 to an end of a levellingrod 84 which is coupled at its opposite end to a pivot 85 at the distalend of a crank 86. The crank 86 is fixed to the pivot 71 which isrotatably coupled to the elementsl6, l8 and which is also fixed to achainwheel 88 at one end of the pivot 71. The

chainwheel-88 forms a part of one of the sprocket and chain assemblies78 each of which also includes a chain 90 coupled at its ends to theends of tie-rods 92, 94. A chain 96 is attached to the opposite ends ofrods 92, 94 and passes around a sprocket 98 fixed to a layshaft 100which is journalled in a bracket 101 on the element 18. A secondsprocket (not shown) is attached to the lay shaft 100 and is coupled bychains 102, 104 and tierods 106, 108 to a sprocket 110 on a shaft 112.The shaft 112 is rotatably journalled in the element 18 and is fixed byits end to the seat 26.

The pivots 48 and 80 on the turntable 12 and 52 and 81 at the distal endof the element 14 form a parallelogram so that as the first element 14is elevated by the actuators 20, the bell-crank levers 82 remain in thesame angular position relative to the horizontal. Also the pivots 52, 83at the bell-cranks and 71, 85 at the distal end of the element 16 form asecond parallelogram to maintain the position of the crank 86 andchainwheels 88 relative to the bell-cranks 82 and hence relative to thepivots 48, 80 on the turntable so that the cranks 86 remain in the sameposition relative to the horizontal no matter what the position of theelements 14 and 16. Also because each sprocket 88 is linked to thecorresponding sprocket 110 at the distal end of the element 18, theparallelograms and chain and sprocket linkages maintain the chair 26 ina horizontal position.

ing reduction in inertia forces when the element 16 is moved.

A further advantage resulting from placing the actuator on the element16 as opposed to the element 14 is that the element 14 can be morereadily insulated electrically. This is a desirable feature if themachine is to be used for purposes where one of the second and thirdelements is to be moved near to electrical conductors such as overheadhydro cables.

Reference is next made to FIG. 3 and 4 with particular reference to FIG.3 to describe the coupling 30. The shaft 112 on which the seat 26 ismounted, acts as a pivot for the arm 34 which is positioned on shaft 112by an actuator 114 which is preferably a hydraulic cylinder and pistonarrangement. Movements of the arm 34 about 1 its longitudinal axis arecontrolled by an upper arm motor 116, elbow motor 118, and wrist motor120. The motors 116, 120 which are preferably hydraulically operated,control angular movement about the longitudinal axis of the arm 34through worm and wheel gear boxes 122, 124, respectively, and the elbowmotor 118 which is also preferably hydraulically operated controlsmovement about a transverse axis through an elbow worm and wheel gearbox 126. The outer end of the arm 34 is coupled to the telescopic member32 which includes an actuator 128 for adjusting the position of washingand dusting brushes 28. The actuator is preferably similar to theactuators 20, 22, 24 and 114. A fourth motor 132 (also preferablyhydraulic) drives the brushes 28 through a right-angle bevel gear-box134.

The actuator 114 is coupled at its rear end to the rear of an elongatedbracket 136 which is fixed by bolts 137 Some two-element machines haveused a second ele- V ment controlled by an actuator such as 22, whichwas coupled directly to the first element 14. The second element 16 wasstraight, and the first element had a cranked end portion such as 50. Ithas been found that coupling the cylinder to the second or upper of thetwo elements and arranging the moment arm 62 and link 67 as shown inFIG. 1 results in an improved actuator efficiency as well as allowing alighter second element to be used. The pivot 52 is offset from thelongitudinal axis of the first element 14 to facilitate folding theelements to bring the second element 16 against the first element 14 ina horizontal position. The force applied by the actuator 22 is directedalong a path which gives a larger turning moment about the pivot point52 than is the case with the actuator attached to the first element 14.Also the actuator 22 is connected to substantially the mid-point of theelment 16 so that the force from the actuator 22 is applied to element16 nearer to the load than is the case when the actuator is attached tothe first element 14. Consequently the element 16 can be lighter andcarry the same load with correspondto the shaft 112 so that the bracket136 is maintained substantially horizontal together with the seat 26.The forward end of the actuator 114 is coupled to'amoment arm 138 fixedto a forked member 140. Each of the arms of the forked member 140 ispivotally mounted on the shaft 112 so that the arm 34 can rotate aboutthe shaft 112 under influence of the actuator 114 on the moment arm 138.The shape and length of the moment arm 138 and the choice of actuator114 dictate the limits of angular movement of the arm 34 about the shaft112. Large angular movements are not normally necessary because themotors 116, 118 and allow a great range of movement of the brushes 28 aswill be described.

The forked member has a radial flange 142 intermediate its ends forattaching the member 140 by bolts 144 to the gear box 122. A worm gear(not shown) is coupled to the motor 116 and engages a worm wheel 146 forrotating the part of the arm 34 outwardly of the motor 116 about itslongitudinal axis. Forked member 140 also includes a series of steppedcylindrical portions towards its outerend for mounting conventionally aninner roller race 148 and an outer roller race 150. The outer race 150is adjusted by tightening a plate 152 against the race 150 using bolts154 and both races 148, 150 are seated in a housing 156 to which isattached at its inner end the worm wheel 146 by bolts 158. The wormwheel 146 also locates the inner race 148 in the housing 156. Oil issealed in the gear box by a pair of conventional lip seals or the like160, 162. The seal 160 is located in the casing of the gear box 122 andadapted to bear on the housing 156, and the seal 162 is located in thecover plate 152 such that the seal 162 rides on the inner surface of thehousing 156. The outer the first clevis plate 164 by bolts 176. The axle172 passes through second clevis plate 166 and is held in place by aretaining plate 178 which is attached to the axle 172 by bolts 180.

When the motor 118 is activated, a worm 181 which is coupled to themotor 118 causes aworm wheel 182 to rotate. The wheel 182 is similar tothe wheel 1 16 and is located between third and fourth clevis plates184, 186 by spacers 188, 190 held in place by bolts 192. A journalbearing 194 passes through the third and fourth clevis plates 184, 186and through the spacer 188 so that when the motor 118 is activated thewheel l82is rotated about the axle 172 carrying with it the third andfourth clevis plates 184, 186. This allows the portion of the arm 34outward of the axle 172 to swing about the axle 172 which liestransversely of the arm 34.

Third and fourth clevis plates 184, 186 are attached to a flange 196 anda strengthening web 198. The flange 196 corresponds to the flange142'associated with the gear box 122 and the parts forming the gear box124 are similar to the parts of the gear box 122. A housing 200corresponding in general shape to the housing 156 extends outwardly fromthe gear box 124 and is attached at its outer end to a support member202 which is attached to the housing 200 by bolts 204. The supportmember 202 terminates at its outer end in a clevis through which aclevis pin 206 passesv The clevis pin 206 also passes through anextension 208 on the member 32, and a similar smaller extension 210 isconnected by a clevis pin 212 to a clevis 214 attached to the housing200. The arrangement of the'clevis pins 206, and 212 allows easy removalof the telescopic member 32 and if desired, a platform or the like canbe connected to the arm 34 in place of the telescopic member 32.

The arrangement of motors 116, 118, 120 and gear boxes 122, 124 and 126and actuator 114 allows the arm 34 to reproduce some of the movements ofa human arm. The actuator ll4 elevates the arm 34 at the shoulder whilethe motors 116, 120 rotate the arm at the upper arm and wristrespectively. Elbow movement is achieved by the motor 118 and gear box126. Consequently the arm 34 may be adjusted to take up a large numberof positions by manipulating controls at either of the control panels 25or 27 (FIG. 1).

A further measure of adjustment is provided by the telescopic member 32which includes elongated tubular outer and inner members 216, 218respectively. The inner member 218 is slidably engaged in the outermember 216 and a key 220 attached to the outer member 216 is slidablyengaged in a key-way 221 in the inner member 218 to prevent rotation ofthe inner member relative to the outer member. lnner member 218 can bemoved outwardly and returned by energizing actuator 128 which is coupledto support plates 222, 223 fixed to the outer end of the inner member218 and the inner end of the outer member 216 respectively. The actuator128 is free to move the inner member 218 outwardly between an extendedposition where the stop 224 engages the key 220 to prevent furtheroutward movement, and a retracted position where the support plate 222.engages the outer end of the outer member 216.

The outer support plate 222 is rigidly coupled to the bevel gear-box 134by a pair of parallel plates 226 such that the axis of an output shaft228 is at right angles to the longitudinal axis of the telescopic member32. The motor 132 drives abevel pinion 230 which is in mesh with abevelled wheel 23] on the output shaft 228. The

shaft 228 is journallcd conventionally in taper roller bearings 232, 233and sealed with conventional oil seals 234, 236. When the motor 132 isactivated the output shaft 228 is rotated carrying with it washingbrushes 28 which are slidably engaged one on each spline 242, 244 of theshaft 228. The brushes 28 are secured on the shaft 228 by locking nuts246, 248.

Reference is again made to FIG. 1 to further describe the levellingmechanisms 19, each of which includes 'the levelling rods 79, 84 whichform parts of parallelograms as previously described. Because aparallelogram formed from four links is unstable when the links lie on acommon line, it is essential to ensure that the first element 14 is notallowed to move into a position where the levelling rod 79 lies on acontinuation of a line drawn between the pivots 48, 80. It is commonlyaccepted that a safe limit for the position of the rod 79 is 10 to theline between pivots.Consequently the range of element 14 is l60 relativeto the pivot 48 and the minimum angle between the rod 79 and the linebetween pivots 48, 80 is 10.

The second parallelogram containing the rod 84 will next be considered.A line drawn between pivots 52, 83 remains in the same position relativeto the horizontal due to the levelling effect of the rod 79 on thebellcrank 82. As before, the range of movement of the element 16 isabout unless the element 16 engages the element 14in which case themovement isreduced. For instance, in the position drawn the element 16is free to rotate about the pivot 52 into an upper position whereelement 16 lies at 10 degrees to a line drawn through pivots 52 and 83.Thus with the element 14 horizontal, the range of element 16 is betweenthis upper position and horizontal. As the element 14 is elevated itgradually moves out of the possible range of element 16 until, when theelement 14 is almost vertical, the element 16 is free to move through arange of about 160 (if a safe limit of. 10 is used).

The angular position of the pivot 83 about the pivot 52 locates therange of movement of the element 16. If the pivot 83 is moved clockwise,about pivot 52 then the 160 degree range is also moved clockwise, andsimilarly for anticlockwise movements. However anticlockwise movement islimited by possible interference of elements 14 and 16-within the rangeof element. 16. Also clockwise movement is limited by the necessary 10angle between the levelling rod 30 and the line through pivots 52, 83with the elements 14, 16 in the FlG. 1 position. Once the range has beendecided and the pivots located accordingly, the actuators 22, momentarms 62 and links 67 are chosen so that the actuators 22 can not movethe element 16 outside this range.

In the present invention the element 16 will not normally be required tomove into a vertical position so that the range of element 16 is locatedto give approximately 80 to either side of the horizontal.

The sprocket and chain assembly 78 has the advantage over the levellingrods that it allows the third element 18 to move through relativelylarge angles because there is no unstable position corresponding to thatof the levelling rods. Consequently the range of element 18 is limitedonly by the movement of actuator 24, and of course by the maximum saferange of the brush about the truck. Typically the range is about 210.One end of the range occurs with the second element vertical and theactuator fully retracted so that the second and third elements define anangle of about 20.

Reference is next made to FIGS. 3 and 5 with particular reference toFIG. 5 which shows some of the many positions in which it is possible toplace the brush when washing an aircraft. In the position A the wristmotor 120 has turned the brush through 90 relative to the FIG. 3position for washing the upper portion of a planes tail section Next inthe position B the arm 34 is elevated from the A position by the piston114. In the position C the arm 34 has been changed from the FIG. 3position by activating the elbow motor 118 to rotate the outer part ofthe arm through 90 about the axle 172 and in the D position the arm isin the same position as shown in FIG. 3. Next the E position is achievedby activating the upper arm motor 116 to rotate the arm 34 through 90 tobring the axis of the axle 172 into a horizontal plane. The motor 1 18is then activated to move the elbow joint through 90 to bring the outerpart of the arm 34 into a vertical position. Finally the F position issimilar to the D position but illustrates the arrangement of theelements for covering a large generally horizontal surface. The brushescan be moved forwardly from the F position by adjusting the elements 16and 18 simultaneously in a modified pendulum action to produce agenerally flat brush path for cleaning large areas. A more nearly flatpath can be produced by adjusting either all three elementssimultaneously or by adjusting the third and second elements togetherwith the shoulder cylinder 114.

It will be seen from the positions of the brushes 28 that the boomstructure 13 is capable of taking up a generally inverted-U shape towash the upper surfaces of the wings and fuselage and can be furtheradjusted for washing the surfaces of the tail. Also although theapparatus is not primarily designed to wash the underside of theaircraft, portions of the underside may be washed by positioning theboom structure with its elements generally as shown in FIG. 1 andelevating the brush using the actuator 114 which brings the brush abovethe level of the seat 26 to avoid interference between the seat and theaircraft. However, the range of positions into which the boom structurecan be adjusted will depend upon the relative positions of the pivots48, 80 and 52, 83 as described, and also upon the relative lengths ofthe elements 14, 16 and 18. It has been found that for larger aircraft asuitable boom structure has a first element of about 22 feet, secondelement of about 18 feet and third element of about 20 feet.

The actuators 20, 22, 24, 1 14 and 128 are preferably double-actinghydraulic piston and cylinder arrangements which are controlled byadjustable valves. Oil is pumped to the valves which control the flow toa combination of actuators corresponding to a desired brush movement.The necessary oil pipes are not shown on the drawings for simplicity,but the pipes may be led inside the boom structure to protect them oralong the outside of the boom structure as desired.

Reference is next made to FIG. 6 which illustrates a second embodimentof the invention, and in particular of the boom structurefThe FIG. Iarrangement of the second and third elements is essential to thesatisfactory functioning of the apparatus over wings and other generallyhorizontal surfaces because this arrangement allows a pendulum actionover the wings as previously described. The second embodiment has secondand third elements which are substantially the same as elements 16, 18(FIG. 1). However the FIG. 1 first element is replaced in the secondembodiment by an elevator 249 having a platform 250 which is supportedby two pairs of parallel legs 252, 254. The legs are pivotally attachedto a turntable 256 on a truck 258.

The elevator 249 is raised and lowered by means of a pair of actuators260 connected between the legs 252 and the platform 250. As the elevatoris raised and lowered the platform 250 always remains in the samehorizontal orientation. This allows the positions of the second andthird elements relative to the horizontal to remain unchanged as theelevator is adjusted by activating an actuator 260 (preferablyhydraulic). This is in contrast to the FIG. 1 arrangement of elementswhich moves as a unit about the pivot point 48 when the element 14 isadjusted. Thus for some applications it may be advantageous to chose oneof the embodiments in preference to the other embodiment.

In both the FIG. 1 and FIG. 6 embodiments water is stored in a tank suchas 262 (FIG. 1) where it is mixed with detergent for washing or with ade-icing compound if the apparatus is to be used for de-icing anaircraft. The tank 262 is connected to convention spray jets by hoses(not shown) for spraying the liquid on to the aircraft.

I claim:

1. Washing and dusting apparatus comprising:

support means; I

an elongated boom structure having first, second and third elementspivotally connected in seriatum for articulated swinging movement abouthorizontal axes; said first element being pivotally mounted on saidsupport means for pivotal swinging movement with respect thereto;

first actuator means adapted to swing said first element with respect tosaid support means;

second actuator means for swinging said second element with respect tosaid first element;

third actuator means for swinging said third element with respect tosaid second element;

brush means for washing and dusting;

coupling means for coupling said brush means to said third element.

2. Apparatus according to claim 1 wherein levelling means extend fromsaid coupling means to said support means for maintaining theorientation of said coupling means constant with respect to the verticalduring movement of said first, second, and third elements.

3. Apparatus according to claim 2 wherein a seat for an operator isconnected to said levelling means adjacent said coupling means wherebythe orientation of said seat is maintained constant during movement ofsaid boom structure.

4. Apparatus according to claim 1 wherein said coupling means includes atelescopic member for permitting reciprocal movement of said brush meanswith respect to said third beam; a telescopic actuator being connectedto said telescopic member and being operable to cause reciprocalmovement of said brush means.

5. Apparatus according to claim 2 'wherein said coupling means has alongitudinal axis, said coupling means being pivotally mounted withrespect to said levelling means for swinging movement about a shoulderaxis; shoulder actuator means interconnecting said coupling means andsaid levelling means for causing swinging movement therebetween.

6. Apparatus according to claim 5 wherein said coupling means includesan elbow joint intermediate its opposite ends; said elbow jointpermitting articulated folding movement of said coupling means about anelbow axis which is transverse to said shoulder axis; an elbow actuatorbeing connected to said elbow joint for causing articulated foldingabout said elbow axis.

7. Apparatus according to claim 6 wherein said coupling means includes awrist joint intermediate its opposite ends, said wrist joint permittingtwo portions of said coupling'means to rotate with respect to oneanother about a wrist axis which is parallel to said longitudinal axisof said coupling means; a wrist actuator being connected to said wristjoint for causing rotational movement of said two portions about saidwrist axis.

8. Apparatus according to claim 7 wherein said wrist joint is on oneside of said elbow joint and an upper arm joint is on the other side ofsaid elbow joint; said upper arm joint permitting the portions of saidcoupling means on opposite sides of said upper arm joint to rotate aboutan upper arm axis parallel to the longitudinal axis of saidcoupling'means; an upper arm actuator being connected to said upper armjoint for controlling rotation about said upper arm axis. I

9. Apparatus according to claim8 wherein said coupling means has firstand second ends, said shoulder joint being adjacent said first end andsaid elbow joint being spaced from said shoulder joint; said upper armjoint being between said shoulder and elbow joints.

' 10. Apparatus according to claim 9 wherein said coupling meansincludes a telescopic member for permitting reciprocal movement of saidbrush means along an axis parallel to said longitudinal axis of saidcoupling means; a telescopic actuator connected to said telescopicmember and being operable to cause reciprocal movement of said brushmeans.

11. Apparatus according to claim 10 wherein said telescopic member ispositioned adjacent said second end of said coupling means and saidupper arm joint, said elbow joint and said wrist joint are between saidtelescopic member and said shoulder joint.

12. Apparatus according to claim 1 wherein said second actuator meansincludes a mechanism pivotally interconnecting said first and secondelements, a power means interconnecting said second element and saidmechanism and being operable to cause said second element to swing withrespect to said first element.

13. Apparatus according to claim 12 wherein said first element includesa cranked portion adjacent the pivotal connection between said first andsecond elements so that with said first element in a horizontal positionsaid second element is free to fold to a position resting horizontallyabove said first element.

14. Apparatus of the type described comprising:

a boom structure having at least one element and having a lower end andan upper end;

a support;

means movably mounting said lower end of said boom structure to saidsupport for up and down movement of said boom structure;

actuator means coupled to said mounting means for adjusting theorientation of said boom structure;

a work tool;

coupling means mounted on said boom structure adjacent said upper end;said coupling means including an arm pivotally mounted thereon foraswinging movement about a shoulder axis; said coupling means supportingsaid work tool;

a shoulder actuator connected to said arm for causing swinging movementof said arm about said shoulder axis;

said arm having a longitudinal axis;

said arm including an elbow joint intermediate its opposite ends; saidelbow joint permitting articulated folding movement of saidcouplingmeans about an elbow axis which is transverse to said shoulder axis; anelbow actuator connected to said elbow joint for controlling swingingmovement about said elbow axis.

15. Apparatus according to claim 14 wherein said arm includes a wristjoint intermediate its opposite ends, said wrist joint permitting theportions of said arm on opposite sides of said wrist joint to rotateabout a wrist axis parallel to said longitudinal. axis of said arm; awrist actuator being connected to said wrist joint for controllingrotation about said wrist axis.

16. Apparatus according to claim 15 wherein said wrist joint is on oneside of said elbow joint and an upper arm joint is on the other side ofsaidelbow joint; said upper arm joint permitting the portions of saidarm on opposite sides of said upper arm joint to rotate about an upperarm axis parallel to said longitudinal axis of said arm; an upper armactuator being connected to said upper arm joint for controllingrotation about said upper arm axis. l

17. Apparatus according to claim 16 wherein said coupling means includesa telescopic member interconnecting said arm and said work tool forpermitting reciprocating movement of said work tool with respect to saidarm, a telescopic actuator being connected to said telescopic member forcausing reciprocating movement of said work tool.

18. Apparatus of the typedescribed comprising: a boom structure havingat least one element and having a lower end and an upper end; a support;I means movably mounting said lower end of said boom structure to saidsupport for up and down movement of said boom structure; actuator meanscoupled to said mounting means for adjusting the orientation of saidboom structure; a work tool; coupling means on said boom structureadjacent said upper end; said coupling means including an arm pivotallymounted thereon for a swinging movement about a shoulder axis; saidcoupling means supporting said work tool; a shoulder actuator connectedto said arm for causing swinging movement of said arm about saidshoulder axis;

a portion of said coupling means being fixed to a 7 member rotatablymounted on said boom structure adjacent said upper end of said boomstructure; levelling means interconnecting said support and said memberand adapted to maintain said member in a predetermined constantorientation with respect to vertical during movement of said boomstructure whereby said coupling means will be held in a constantorientation with respect to vertical during movement of said boomstructure.

1. Washing and dusting apparatus comprising: support means; an elongatedboom structure having first, second and third elements pivotallyconnected in seriatum for articulated swinging movement about horizontalaxes; said first element being Pivotally mounted on said support meansfor pivotal swinging movement with respect thereto; first actuator meansadapted to swing said first element with respect to said support means;second actuator means for swinging said second element with respect tosaid first element; third actuator means for swinging said third elementwith respect to said second element; brush means for washing anddusting; coupling means for coupling said brush means to said thirdelement.
 2. Apparatus according to claim 1 wherein levelling meansextend from said coupling means to said support means for maintainingthe orientation of said coupling means constant with respect to thevertical during movement of said first, second, and third elements. 3.Apparatus according to claim 2 wherein a seat for an operator isconnected to said levelling means adjacent said coupling means wherebythe orientation of said seat is maintained constant during movement ofsaid boom structure.
 4. Apparatus according to claim 1 wherein saidcoupling means includes a telescopic member for permitting reciprocalmovement of said brush means with respect to said third beam; atelescopic actuator being connected to said telescopic member and beingoperable to cause reciprocal movement of said brush means.
 5. Apparatusaccording to claim 2 wherein said coupling means has a longitudinalaxis, said coupling means being pivotally mounted with respect to saidlevelling means for swinging movement about a shoulder axis; shoulderactuator means interconnecting said coupling means and said levellingmeans for causing swinging movement therebetween.
 6. Apparatus accordingto claim 5 wherein said coupling means includes an elbow jointintermediate its opposite ends; said elbow joint permitting articulatedfolding movement of said coupling means about an elbow axis which istransverse to said shoulder axis; an elbow actuator being connected tosaid elbow joint for causing articulated folding about said elbow axis.7. Apparatus according to claim 6 wherein said coupling means includes awrist joint intermediate its opposite ends, said wrist joint permittingtwo portions of said coupling means to rotate with respect to oneanother about a wrist axis which is parallel to said longitudinal axisof said coupling means; a wrist actuator being connected to said wristjoint for causing rotational movement of said two portions about saidwrist axis.
 8. Apparatus according to claim 7 wherein said wrist jointis on one side of said elbow joint and an upper arm joint is on theother side of said elbow joint; said upper arm joint permitting theportions of said coupling means on opposite sides of said upper armjoint to rotate about an upper arm axis parallel to the longitudinalaxis of said coupling means; an upper arm actuator being connected tosaid upper arm joint for controlling rotation about said upper arm axis.9. Apparatus according to claim 8 wherein said coupling means has firstand second ends, said shoulder joint being adjacent said first end andsaid elbow joint being spaced from said shoulder joint; said upper armjoint being between said shoulder and elbow joints.
 10. Apparatusaccording to claim 9 wherein said coupling means includes a telescopicmember for permitting reciprocal movement of said brush means along anaxis parallel to said longitudinal axis of said coupling means; atelescopic actuator connected to said telescopic member and beingoperable to cause reciprocal movement of said brush means.
 11. Apparatusaccording to claim 10 wherein said telescopic member is positionedadjacent said second end of said coupling means and said upper armjoint, said elbow joint and said wrist joint are between said telescopicmember and said shoulder joint.
 12. Apparatus according to claim 1wherein said second actuator means includes a mechanism pivotallyinterconnecting said first and second elements, a power meansinterconnecting said second element and said mechanism and beiNgoperable to cause said second element to swing with respect to saidfirst element.
 13. Apparatus according to claim 12 wherein said firstelement includes a cranked portion adjacent the pivotal connectionbetween said first and second elements so that with said first elementin a horizontal position said second element is free to fold to aposition resting horizontally above said first element.
 14. Apparatus ofthe type described comprising: a boom structure having at least oneelement and having a lower end and an upper end; a support; meansmovably mounting said lower end of said boom structure to said supportfor up and down movement of said boom structure; actuator means coupledto said mounting means for adjusting the orientation of said boomstructure; a work tool; coupling means mounted on said boom structureadjacent said upper end; said coupling means including an arm pivotallymounted thereon for a swinging movement about a shoulder axis; saidcoupling means supporting said work tool; a shoulder actuator connectedto said arm for causing swinging movement of said arm about saidshoulder axis; said arm having a longitudinal axis; said arm includingan elbow joint intermediate its opposite ends; said elbow jointpermitting articulated folding movement of said coupling means about anelbow axis which is transverse to said shoulder axis; an elbow actuatorconnected to said elbow joint for controlling swinging movement aboutsaid elbow axis.
 15. Apparatus according to claim 14 wherein said armincludes a wrist joint intermediate its opposite ends, said wrist jointpermitting the portions of said arm on opposite sides of said wristjoint to rotate about a wrist axis parallel to said longitudinal axis ofsaid arm; a wrist actuator being connected to said wrist joint forcontrolling rotation about said wrist axis.
 16. Apparatus according toclaim 15 wherein said wrist joint is on one side of said elbow joint andan upper arm joint is on the other side of said elbow joint; said upperarm joint permitting the portions of said arm on opposite sides of saidupper arm joint to rotate about an upper arm axis parallel to saidlongitudinal axis of said arm; an upper arm actuator being connected tosaid upper arm joint for controlling rotation about said upper arm axis.17. Apparatus according to claim 16 wherein said coupling means includesa telescopic member interconnecting said arm and said work tool forpermitting reciprocating movement of said work tool with respect to saidarm, a telescopic actuator being connected to said telescopic member forcausing reciprocating movement of said work tool.
 18. Apparatus of thetype described comprising: a boom structure having at least one elementand having a lower end and an upper end; a support; means movablymounting said lower end of said boom structure to said support for upand down movement of said boom structure; actuator means coupled to saidmounting means for adjusting the orientation of said boom structure; awork tool; coupling means on said boom structure adjacent said upperend; said coupling means including an arm pivotally mounted thereon fora swinging movement about a shoulder axis; said coupling meanssupporting said work tool; a shoulder actuator connected to said arm forcausing swinging movement of said arm about said shoulder axis; aportion of said coupling means being fixed to a member rotatably mountedon said boom structure adjacent said upper end of said boom structure;levelling means interconnecting said support and said member and adaptedto maintain said member in a predetermined constant orientation withrespect to vertical during movement of said boom structure whereby saidcoupling means will be held in a constant orientation with respect tovertical during movement of said boom structure.